中文摘要：

提出一种可以实现三维平动的新型正交三自由度并联机构3-CPR。用ADAMS建立虚拟样机对该机构进行运动学仿真实验,表明该机构具有良好的运动学性能。采用搜索法求解机构工作空间,用遗传优化算法对机构工作空间体积进行优化,得到工作空间体积取最大值时机构的尺寸参数。3-CPR并联机构用移动副作为驱动副,具有结构简单、刚度大、输出力大等优势。工作空间的优化结果对该机构在实际应用中具有重要的参考价值。

英文摘要：

A new kind of orthogonal 3 - DOF 3 - CPR parallel mechanism which can realize three - di- mensional translation is proposed. The virtual prototype of 3 - CPR mechanism is established, and the kinemat- ics simulation experiment is carried out by using ADAMS software. The experiment shows the mechanism has good kinematics performance. The workspace of the mechanism is solved by using search method. The work- space volume of the mechanism is optimized by using genetic algorithm. The size parameters of the mechanism are obtained when the workspace volume takes the maximum value. The 3 - CPR parallel mechanism has the advantages of simple structure, high stiffness, large output force, large workspace, and so on, because of using the prismatic pairs as the driving pairs. The results of the workspaee optimization have important reference value for the application of the mechanism.